Image-based homing for robots can be implemented by

Chapter 3, Problem 20

(choose chapter or problem)

Image-based homing for robots can be implemented by generating heading command inputs to a steering system based on the following guidance algorithm. Suppose the robot shown in Figure P3.13(a) is to go from point R to a target, point T, as shown in Figure P3.13(b). If \(\mathbf{R}_x, \mathbf{R}_y\), and \(\mathbf{R}_z\) are vectors from the robot to each landmark, X, Y, Z, respectively, and \(\mathbf{T}_x, \mathbf{T}_y\), and \(\mathbf{T}_z\) are vectors from the target to each landmark, respectively, then heading commands would drive the robot to minimize \(\mathbf{R}_x-\mathbf{T}_x, \mathbf{R}_y-\mathbf{T}_y\), and \(\mathbf{R}_z-\mathbf{T}_z\) simultaneously, since the differences will be zero when the robot arrives at the target (Hong, 1992). If Figure P3.13(c) represents the control system that steers the robot, represent each block-the controller, wheels, and vehicle-in state space. An animation PowerPoint presentation (PPT) demonstrating this system is available for instructors at www.wiley.com/college/nise. See Robot. [Section: 3.5]